CN116749978A - Control methods, devices, electronic equipment and storage media for limp driving of vehicles - Google Patents

Abstract

This application relates to the field of vehicle technology and provides a method, device, electronic device and storage medium for controlling limp driving of a vehicle. The control method for limp driving of the vehicle includes: obtaining the driving status data and driving parameter data of the vehicle; determining the power demand of the limp driving vehicle based on the driving status data and driving parameter data; determining the power demand of the limp driving vehicle based on the driving parameter data. The limp-running control method includes the engine limp-running control method or the crankshaft limp-running control method. Control the vehicle to limp in limp driving control mode. The embodiment of the present application solves the problem that the power of the vehicle cannot meet the driving demand when it enters the limp mode.

Description

Control methods, devices, electronic equipment and storage media for limp driving of vehicles

Technical field

The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device and storage medium for controlling limp running of a vehicle.

Background technique

Currently, the global automobile industry is rapidly transforming to new energy vehicles. In terms of vehicle driving, hybrid electric vehicles reduce the range anxiety of pure electric vehicles and also play a role in energy conservation and emission reduction, and are accepted by more and more people. However, with the use of hybrid vehicles, consumers have put forward higher requirements for the safety performance of hybrid systems during driving. In the existing technology, when a vehicle fails, the vehicle enters limp mode to control the vehicle to ensure that the vehicle can travel to a safe area for maintenance.

However, in the existing technology, when a hybrid vehicle enters the limp mode, there are certain power requirements for the vehicle, and the vehicle may not be able to meet the driving power requirements, resulting in difficulties in limp driving.

Contents of the invention

In view of this, embodiments of the present application provide a method, device, electronic device, and storage medium for controlling limp driving of a vehicle to solve the problem in the prior art that the vehicle cannot limp smoothly in the limp mode.

A first aspect of the embodiment of the present application provides a method for controlling limp driving of a vehicle, including:

Obtain the vehicle's driving status data and driving parameter data;

Determine the power required for limp driving of the vehicle based on the driving status data and driving parameter data;

Determine a limp driving control method according to the power required for limp driving of the vehicle and the driving parameter data, and the control method includes an engine limp driving control mode or a crankshaft limp driving control mode;

The vehicle is controlled to limp in the limp driving control mode.

A second aspect of the embodiment of the present application provides a control device for limp driving of a vehicle, including:

The acquisition module is used to obtain the driving status data and driving parameter data of the vehicle;

A determination module for determining the power required for limp driving of the vehicle based on the driving status data and driving parameter data;

A selection module configured to determine a limp driving control method based on the power required for limp driving of the vehicle and the drive parameter data, where the control method includes an engine limp driving control method or a crankshaft limp driving control method;

An execution module is used to control the vehicle to perform limp driving in the limp driving control mode.

A third aspect of the embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

A fourth aspect of the embodiments of the present application provides a storage medium that stores a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

Compared with the prior art, the beneficial effects of the embodiments of the present application are:

The power required for limp driving of the vehicle is determined by obtaining the driving status data and driving parameter data of the target vehicle, and then the engine limp driving control method or crankshaft limp driving is selected based on the power and driving parameter data required for limp driving of the vehicle. Control mode controls vehicle movement. In this way, when the vehicle is in limp mode, the power required for limp driving is jointly determined through the vehicle's driving status data and driving parameter data, thereby determining the limp driving control method, so that the determined limp driving control method can meet the requirements of limp driving. The required power enables the vehicle to drive smoothly when the vehicle is controlled to limp through the limp driving control method, solving the problem that the vehicle power is insufficient to meet the driver's power demand for the vehicle in the limp mode, thereby solving the existing technology The problem is that the vehicle cannot limp smoothly.

Description of the drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the purpose of the present application. For some embodiments, for those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic flowchart of a vehicle limp driving control method provided by an embodiment of the present application;

Figure 2 is a schematic flowchart of another vehicle limp driving control method provided by an embodiment of the present application;

Figure 3 is a schematic structural diagram of a vehicle limp driving control device provided by an embodiment of the present application;

FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that data so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in orders other than those illustrated or described herein, and that "first", "second", etc. are distinguished objects It is usually one type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and/or" in the description and claims indicates at least one of the connected objects, and the character "/" generally indicates that the related objects are in an "or" relationship.

Furthermore, it should be noted that the terms "comprising," "comprising," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also includes Other elements are not expressly listed or are inherent to the process, method, article or equipment. Without further limitation, an element defined by the statement "including..." does not exclude the presence of additional identical elements in the process, method, article, or device that includes the element.

A method and device for controlling limp driving of a vehicle according to embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Figure 1 is a schematic flowchart of a vehicle limp driving control method provided by an embodiment of the present application.

As shown in Figure 1, the limp driving control method includes:

Step 101: Obtain the driving status data and driving parameter data of the vehicle.

Specifically, the driving status data of the vehicle may include vehicle speed, accelerator pedal opening, clutch operating status, etc.

Driving parameter data is parameter data related to the driving of the vehicle, that is, parameter data that affects the driving of the vehicle, which can include target power working mode, actual power working mode, vehicle demand torque, slope, limp mode, prohibiting front motor operation Flag signal, engine parameter data, generator parameter data, battery parameter data, etc.

Specifically, the power working modes include electric vehicle (EV), series, parallel, and engine start/stop. The vehicle's required torque is obtained by looking up the accelerator pedal opening and vehicle speed. The limp mode is a driving mode when the electronic control unit in the car's electronic control unit (ECU) fails. The front motor operation prohibition flag signal indicates a detected fault in the vehicle's front motor, and the fault level is large. In order to protect driving safety, the front motor operation prohibition flag signal is sent to stop the vehicle's front motor operation. Engine parameter data includes engine flywheel end torque, actual engine speed and engine maximum torque limit. Generator parameter data includes the actual speed of the generator and the maximum torque limit of the generator. The battery parameter data includes the remaining battery capacity (State of Charge, SOC) and the peak discharge power of the battery within a preset period.

The vehicle's driving status data and driving parameter data can be obtained through existing technologies, and are not limited here.

By obtaining the driving status data and driving parameter data of the vehicle, the status of the vehicle can be judged, which is conducive to accurately determining whether limp driving is possible.

Step 102: Determine the power required for limp driving of the vehicle based on the driving status data and driving parameter data.

Specifically, the power required for the vehicle to limp is the power required for the vehicle to drive in the limp mode.

Determining the power required for limp driving of the vehicle through driving status data and driving parameter data ensures the accuracy of the power required for limp driving of the vehicle, and is conducive to determining the power demand for the vehicle during limp driving, so as to better control the vehicle. control.

Step 103: Determine a limp driving control mode based on the power required for limp driving of the vehicle and the driving parameter data. The limp driving control mode includes an engine limp driving control mode or a crankshaft limp driving control mode.

Specifically, the engine limp-running control method means that the vehicle uses the engine as the power source of the vehicle when it is in limp mode, and the crankshaft limp-running control method means that when the vehicle is in limp mode, the engine and generator act on the crankshaft at the same time as the vehicle's power source. source of power.

The limp driving control method of the vehicle is determined based on the power and driving parameter data required for limp driving of the vehicle, so that the determined limp driving control method can meet the power required for limp driving and the current driving conditions of the vehicle, that is, even if the vehicle is passing through limp driving The control method can meet the power demand of limp driving when limp driving, and realizes that the vehicle adopts different limp driving control methods to meet the corresponding power demand.

Step 104: Control the vehicle to perform limp driving in the limp driving control mode.

This embodiment uses the selected limp driving control method to control the vehicle's limp driving, so that the vehicle can satisfy driving dynamics even in the limp mode, ensuring smooth limp driving of the vehicle.

According to the technical solution provided by the embodiment of the present application, by obtaining the driving status data and driving parameter data of the vehicle, in order to meet the driving power demand, the limp driving control method is judged and selected based on the obtained driving status data and driving parameter data of the vehicle, and The vehicle is controlled according to the selected limp driving control method, which enables the vehicle to select different limp driving control methods to meet the power needs of driving in the limp mode, and avoids the technology of insufficient power when the vehicle enters the limp mode and cannot limp smoothly. question.

In some embodiments, the driving status data includes vehicle driving speed, accelerator pedal opening, and clutch operating status; the driving parameter data includes battery SOC value, target power operating mode, actual power operating mode, indicating limp mode. The first indication information is whether it is activated, and the second indication information is used to indicate whether the motor operation flag before prohibition is activated;

According to the driving status data and driving parameter data, before determining the power required for limp driving of the vehicle, it also includes:

When the driving state data and driving parameter data meet the following preset conditions, it is determined that the vehicle is in a limp driving state in parallel mode;

Wherein, the preset conditions include:

The vehicle driving speed is greater than the first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch operating state is a combined state, the battery SOC value is greater than the preset SOC value, the target power operating mode and the actual power operation The modes are all parallel modes, the first indication information indicates that the limp mode is activated, and the second indication information is used to indicate that the pre-inhibition motor operation flag is activated.

Specifically, the first preset speed threshold can be set according to requirements. For example, as an example, the first preset speed threshold can be set to 60km/h. It should be understood that there is no limit to this in this embodiment. The vehicle The driving speed being greater than the first preset speed threshold can be used as one of the conditions for entering limp driving in parallel mode.

The preset SOC value indicates that the battery SOC value of the vehicle can meet the driving requirements of the engine. For example, as an example, the preset SOC value can be set to 40%. It should be understood that there is no limit to this in this embodiment. The battery SOC value is greater than the preset SOC value. When the SOC value is set, it means that the vehicle can use the battery as a source of driving power.

Parallel mode means that the vehicle can use generators and engines as the power source of the vehicle. The target power working mode and the actual power working mode are both parallel modes, allowing the vehicle to select the power source.

The first indication information indicates that the limp mode is activated, indicating that the vehicle has entered the limp mode; the second indication information indicates that the front motor operation prohibition flag is activated, indicating that the vehicle's front motor operation is stopped.

It should be noted that the above data can be displayed through the display screen or the instrument panel, but there are no specific limitations here.

When the above conditions are met, it can be determined that the target vehicle has entered the limp driving state in parallel mode. At this time, the limp driving state in parallel mode can be set to active through the HCU. Of course, if any of the above conditions are not met, it is determined that the limp driving state of the target vehicle in parallel mode is a frozen state, that is, limp driving cannot be performed at this time.

In the technical solution provided by the embodiment of the present application, it is determined whether the target vehicle is limp driving in the parallel mode based on the driving state data and driving parameter data, and it is realized whether the target vehicle satisfies the limp driving condition in the parallel mode through the driving state data and driving parameter data. conditions, ensuring the accuracy of the determination results, ensuring the accuracy of the vehicle entering the limp driving state in parallel mode, effectively preventing the vehicle from losing control when it is not suitable for limp driving and causing other accidents, and improving the safety of the vehicle limp driving. .

In addition, in order to adapt to the dynamic parameters of limp driving of the entire vehicle, this embodiment can set a power limiting factor for limp driving, so as to obtain the power required for limp driving of the vehicle.

Specifically, in some embodiments, the driving status data includes gradient and accelerator pedal opening, and the driving parameter data includes battery SOC value, actual engine speed, engine transmission speed ratio, and vehicle demand torque;

According to the driving status data and driving parameter data, the power required for limp driving of the vehicle is determined, including:

Step A1: Establish a membership function with the preset input variables and output variables, where the input variables include accelerator pedal opening, battery SOC value and slope, and the output variables include the power limiting factor for limp driving; according to the membership function Create a fuzzy control rule table, and defuzzify the output variable according to the fuzzy control rule table and the weighted average method to obtain the power limiting factor for limp driving;

Specifically, this embodiment can use the accelerator pedal opening, battery SOC value and slope as input variables, where the accelerator pedal opening A has a value range of 0 to 100 (%); the slope S has a value range of 0 to 100 (%); the battery SOC value B ranges from 40 to 100 (%).

In addition, the power limiting factor of limp driving can be used as an output variable, where the power limiting factor F of limp driving ranges from 0 to 1.

In this embodiment, when establishing the membership function of the input variable and the output variable, the fuzzy subset and the basic domain of the input variable can be determined. By determining the fuzzy subset and the basic domain of the input variable, the membership function can be established and based on the desktop Simulation, bench simulation testing and real vehicle calibration determine the fuzzy control rule table corresponding to the input and output membership functions, and then defuzzify the output variables to obtain the power limiting factor for limp driving.

In addition, this embodiment can also determine the fuzzy control rules corresponding to the input and output membership functions based on expert experience and combined with fault handling measures and desktop simulation, bench simulation testing and real vehicle calibration, and then use the weighted average method to control limp driving. The power limitation factor F is defuzzified and an accurate value is obtained.

Step A2: Determine the vehicle power demand of the vehicle based on the actual engine speed, engine transmission speed ratio and vehicle demand torque.

Specifically, the actual engine speed, engine transmission speed ratio and vehicle demand torque are all related to the vehicle's vehicle power demand. Therefore, the vehicle's vehicle power demand can be determined based on the actual engine speed, engine transmission speed ratio and vehicle demand torque. .

The vehicle torque demand can be determined according to

Among them, when the vehicle power demand is obtained through the vehicle's required torque, the actual engine speed and the engine speed transmission ratio, it can be obtained by the following formula:

Among them, P _VehReqRaw represents the vehicle's power demand, n _EngAct represents the actual engine speed, r _EngTrsm represents the engine transmission speed ratio, and Tq _VehReq represents the vehicle's torque demand.

Step A3: Determine the power required for limp driving of the vehicle based on the power limiting factor and the vehicle power demand.

Specifically, when the power required for limp driving of the vehicle is calculated through the power limitation factor and the vehicle power demand, it can be obtained by the following formula:

P _VehReqLim = P _VehReqRaw × F _{LimpDrvPwrLim} ;

Among them, P _VehReqLimp represents the power required for limp driving of the vehicle, F _{LimpDrvPwrLim} represents the power limitation factor, and P _VehReqRaw represents the vehicle's complete vehicle power demand.

Furthermore, when the accelerator pedal opening is 0, the power required for limp driving of the vehicle is 0 kW.

Below, as an example, the process of creating a fuzzy control rule table is explained.

For example, the accelerator pedal opening is divided into three subsets {S, M, B}, the basic domain of discussion is [0, 2], the membership function adopts a triangular distribution, and the accelerator pedal opening input membership function is shown in the following table:

The slope is divided into four subsets {Z, S, M, B}. The basic domain of discussion is [0, 3]. The membership function adopts a triangular distribution. The slope input membership function is shown in the following table:

The battery SOC value is divided into three subsets {L, M, H}. The basic domain of discussion is [0, 2]. The membership function adopts a triangular distribution. The battery SOC value B input membership function is shown in the following table:

The power limitation factor of limp driving is divided into five subsets {VS, S, M, B, VB}. The basic domain of discussion is [0, 1]. The membership function adopts a triangular distribution. The power limitation factor of limp driving outputs the membership degree. The function is shown in the following table:

Based on expert experience and combined with fault handling measures management, the fuzzy control rules corresponding to the input and output membership functions are determined based on desktop simulation, bench simulation testing and real vehicle calibration, as shown in the following table

According to the technical solution provided by this embodiment, on the basis of fuzzy processing of driving requirements, a fuzzy control rule table is applied to obtain the power limiting factor for limp driving; and by using the vehicle demand torque, the actual engine speed and the engine speed The transmission speed ratio can be used to calculate the power required by the vehicle. Based on the power limiting factor of limp driving and the calculation of the power required by the vehicle, the power required by the vehicle for limp driving can be obtained, which improves the accuracy of the power required by the vehicle for limp driving. , which is conducive to accurately selecting the limp driving control method to control the vehicle.

In some embodiments, the driving parameter data includes engine maximum torque limit, engine actual speed, generator actual speed, generator maximum discharge torque limit, and battery peak discharge power within a preset period;

According to the power required for limp driving of the vehicle and the driving parameter data, a limp driving control method is determined, including:

Determine the engine maximum power value based on the engine maximum torque limit and the actual engine speed;

Determine the maximum power value of the generator based on the actual rotation speed of the generator, the maximum discharge torque limit of the generator and the peak discharge power of the battery within the preset period;

The limp driving control mode is determined based on the power required for limp driving of the vehicle, the maximum power value of the engine and the maximum power value of the generator.

Specifically, the engine maximum power value is calculated through the engine maximum torque limit and the actual engine speed, which can be obtained by the following formula:

P _EngMaxLim = 9550 × n _EngAct × T _qEngMaxLim ;

Among them, P _EngMaxLim is the maximum power value of the engine, T _qEngMaxLim is the maximum torque limit of the engine, and n _EngAct is the actual engine speed.

When calculating the maximum power value of the generator based on the maximum discharge torque limit of the generator, the actual speed of the generator and the peak discharge power of the battery within the preset period, the maximum power value of the generator can be obtained by the following formula:

P _GcuMaxLim =min(9550×n _GcuAct ×Tq _{GcuElecMaxLim} , P _PeakDchrg );

Among them, P _GcuMaxLimm represents the maximum power value of the generator, n _GcuAct represents the actual speed of the generator, Tq _{GcuElecMaxLim} represents the maximum discharge torque limit of the generator, and P _PeakDchrg represents the peak discharge power of the battery within the preset period.

After determining the maximum power value of the engine and generator, the limp driving control method can be determined based on the power required for limp driving of the vehicle, the maximum power value of the engine and the maximum power value of the generator, so that the increased power of the engine and engine can meet the limp driving requirement. The power demand of the driving control mode ensures that the vehicle will limp and drive safely in the event of a malfunction, and at the same time, it also meets the driver's power demand for the vehicle.

In some embodiments, the limp driving control method is determined based on the power required for limp driving of the vehicle, the maximum power value of the engine and the maximum power value of the generator, including at least one of the following:

When the power required for limp driving of the vehicle is not greater than the maximum power value of the engine, determine that the limp driving control mode is the engine limp driving control mode;

When the power required for limp driving of the vehicle is greater than the engine maximum power value and less than the sum of the engine maximum power value and the generator maximum power value, it is determined that the limp driving control mode is the crankshaft limp. driving control methods;

When the power required for limp running of the vehicle is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, the limp running control mode is determined to be the crankshaft limp running control mode, and the limp running control mode is determined. The power required for limp driving of the vehicle is updated to the sum of the maximum power value of the engine and the maximum power value of the generator, and the driving power of the entire vehicle is set to a fault state.

Specifically, when the power required for limp driving of the vehicle is not greater than the maximum power value of the engine, it means that a single engine as a power source can meet the power demand for limp driving. At this time, the limp driving control method can be determined to be engine limp driving control; when When the power required for limp driving of the vehicle is greater than the maximum power of the engine and less than the sum of the maximum power of the engine and the maximum power of the generator, it means that the engine alone cannot meet the power demand for limp driving. In this case, a parallel connection is required. The mode limp travel control method is crankshaft limp travel control, thereby realizing that the power requirements of the set limp travel control method can be met.

In addition, if the power required for limp driving of the vehicle is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, it means that in this case, the engine and generator cannot meet the power required for limp driving even if the engine and generator are operated at the same time, so the parallel mode is set The limp driving control method is crankshaft limp driving control, and the power required for limp driving of the vehicle is set to the sum of the maximum power value of the engine and the maximum power value of the generator, and the vehicle driving power degradation fault flag is triggered.

In this way, by comparing the power required for limp driving of the vehicle with the maximum power value of the engine and the maximum power value of the generator, the limp driving control mode is determined, so that the power source of the vehicle can meet the power required by the determined limp driving control mode, thereby A more accurate limp driving control method is selected to control the limp driving of the vehicle.

In some embodiments, controlling the vehicle to perform limp driving in the limp driving control mode includes:

Determine the engine target rapid torque and generator target torque corresponding to the limp driving control mode;

Controlling an engine of the vehicle to operate at the engine target rapid torque and controlling a generator to operate at the generator target torque;

Wherein, if the limp running control mode is the engine limp running control mode, the generator target torque is zero, and the engine target fast torque is calculated by the following formula:

Among them, Tq _EngFastReq represents the engine target fast torque, P _VehReqLim represents the power required for limp driving of the vehicle, and n _EngAct represents the actual engine speed;

If the limp running control mode is the crankshaft limp running control mode, the engine target rapid torque is the engine maximum torque limit, and the generator target torque is calculated by the following formula:

Tq _GcuReq = (Tq _CrksftReq - Tq _EngAct )×r _Gcu ;

Among them, Tq _GcuReq represents the generator target torque, Tq _CrksftReq represents the crankshaft target torque, Tq _EngAct represents the engine flywheel end torque, r _Gcu represents the speed ratio between the engine and the generator, P _VehReqLim represents the power required for limp driving of the vehicle, P _EngMaxLim represents the maximum power value of the engine, and P _GcuMaxLim represents the maximum power value of the generator.

It should be noted that when the power P _VehReqLimp required for limp driving of the vehicle is 0kw, the HCU sets the engine target fast torque and the generator target torque to both be 0Nm.

Specifically, by calculating the engine target fast torque and the generator target torque corresponding to different limp driving control modes, when the engine operation is controlled according to the engine target fast torque, and the generator operation is controlled according to the generator target torque, the engine and generator It can provide power to meet the power requirements of limp driving and meet the power requirements of the vehicle during limp driving.

In some embodiments, after controlling the vehicle to limp in the limp driving control mode, the method further includes:

If the vehicle traveling speed is less than or equal to the second preset speed threshold, the target power operating mode is not a parallel mode, the first indication information indicates that the limp mode is frozen, the clutch operating state is an uncombined state, the The second indication information indicates that the pre-prohibited motor operation flag is frozen, controls the vehicle to end the limp driving state in the parallel mode, and sets the limp mode in the parallel mode to the frozen state.

Specifically, the second preset speed threshold can be set according to needs, for example, it can be 50km/h. By determining whether the vehicle driving speed is less than or equal to the second preset speed threshold, whether the target power operating mode is not a parallel mode, whether the first indication information indicates limp mode freezing, whether the clutch operating state is an uncombined state, and whether the second indication information indicates The motor work flag before prohibition is frozen to determine whether the conditions for exiting limp driving in parallel mode are met, and the process of judging the conditions required for limp driving in parallel mode is realized.

In this way, in this embodiment, when the hybrid electric vehicle is in a parallel state, due to a serious failure of the front drive motor and resulting failure, in order to meet the driver's operation, the limp driving parameters of the entire vehicle are identified and the driving power required by the entire vehicle is analyzed, and the generator is timely Intervention in driving ensures that the vehicle can continue to drive to a safe area in a fault state, avoiding the problem of limp driving failure caused by limp driving in parallel mode when the current driving conditions do not meet the requirements _{, and} ensuring the driving safety of the vehicle.

The embodiment of the present application will be described in detail below with reference to Figure 2. As shown in Figure 2, the method for controlling limp driving of the vehicle includes:

Collect driving status data and driving parameter data, and determine that the vehicle reaches the activation conditions for limp driving in parallel mode by analyzing the driving status data and driving parameter data; when the vehicle meets the activation conditions for limp driving in parallel mode, calculate the power limit for limp driving based on the data factor, and use the power limiting factor of limp driving and related data to calculate the power demand of the whole vehicle in limp driving; when the power demand of the whole vehicle in limp driving is not greater than the maximum power of the engine, the vehicle uses the engine limp driving mode to control the vehicle. When the power demand of the vehicle is not greater than the maximum power of the crankshaft end, the vehicle adopts the engine limp driving mode to control the vehicle, where the maximum power of the crankshaft end is expressed as the sum of the power of the engine and generator; and the limp driving torque is distributed according to the selected control mode. , continue until the limp driving in parallel mode exits.

All the above optional technical solutions can be combined in any way to form optional embodiments of the present application, and will not be described again one by one.

The following are device embodiments of the present application, which can be used to execute method embodiments of the present application. For details not disclosed in the device embodiments of this application, please refer to the method embodiments of this application.

Figure 3 is a schematic diagram of a vehicle limp driving control device provided by an embodiment of the present application. As shown in Figure 4, the vehicle limp mode control device includes:

The acquisition module 301 is used to acquire the driving status data and driving parameter data of the vehicle;

The determination module 302 is used to determine the power required for limp driving of the vehicle based on the driving status data and driving parameter data;

The selection module 303 is configured to determine a limp driving control mode according to the power required for limp driving of the vehicle and the driving parameter data. The limp driving control mode includes an engine limp driving control mode or a crankshaft limp driving control mode;

The execution module 304 is used to control the vehicle to perform limp driving in the limp driving control mode.

In some embodiments, the driving status data includes vehicle driving speed, accelerator pedal opening, and clutch operating status; the driving parameter data includes battery SOC value, target power operating mode, actual power operating mode, indicating limp mode. The first indication information is whether it is activated, and the second indication information is used to indicate whether the motor operation flag before prohibition is activated;

The determination module is also configured to determine that the vehicle is in a limp driving state in parallel mode when the driving state data and driving parameter data meet the following preset conditions; wherein the preset conditions include: the vehicle The driving speed is greater than the first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch working state is a combined state, the battery SOC value is greater than the preset SOC value, the target power working mode and the actual power working mode are both In parallel mode, the first indication information indicates that the limp mode is activated and the second indication information is used to indicate that the pre-inhibition motor operation flag is activated.

In some embodiments, the driving status data includes gradient and accelerator pedal opening, and the driving parameter data includes battery SOC value, actual engine speed, engine transmission speed ratio, and vehicle demand torque;

The determination module is also used to establish a membership function from preset input variables and output variables, wherein the input variables include accelerator pedal opening, battery SOC value and slope, and the output variables include the power limiting factor for limp driving; according to The membership function creates a fuzzy control rule table, and de-fuzzifies the output variable according to the fuzzy control rule table and the weighted average method to obtain the power limiting factor for limp driving; according to the actual engine speed, engine transmission The speed ratio and the vehicle's required torque are used to determine the vehicle's required power; based on the power limiting factor and the vehicle's required power, the power required for limp driving of the vehicle is determined.

In some embodiments, the driving parameter data includes engine maximum torque limit, engine actual speed, generator actual speed, generator maximum discharge torque limit, and battery peak discharge power within a preset period;

The selection module is used to determine the maximum power value of the engine based on the maximum torque limit of the engine and the actual engine speed; and determine the power generation based on the actual speed of the generator, the maximum discharge torque limit of the generator and the peak discharge power of the battery within a preset period. The maximum power value of the engine; the limp driving control mode is determined according to the power demand of the entire vehicle during limp driving, the maximum power value of the engine and the maximum power value of the generator.

In some embodiments, the selection module is further configured to determine that the limp driving control mode is the engine limp driving control mode when the power required for limp driving of the vehicle is not greater than the maximum power value of the engine; When the power required for limp driving of the vehicle is greater than the maximum power value of the engine and less than the sum of the maximum power value of the engine and the maximum power value of the generator, the limp driving control mode is determined to be the crankshaft limp driving control. Mode; when the power required for limp driving of the vehicle is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, determine that the limp driving control mode is the crankshaft limp driving control mode, and set The power required for limp driving of the vehicle is updated to the sum of the maximum power value of the engine and the maximum power value of the generator, and the driving power of the entire vehicle is set to a fault state.

In some embodiments, the execution module is configured to determine the engine target fast torque and the generator target torque corresponding to the limp driving control mode; control the engine of the vehicle to run at the engine target fast torque, and control the generator to run at the engine target fast torque. The generator operates at target torque;

Wherein, if the limp running control mode is the engine limp running control mode, the generator target torque is zero, and the engine target fast torque is calculated by the following formula:

Among them, Tq _EngFastReq represents the engine target fast torque, P _VehReqLim represents the power required for limp driving, and n _EngAct represents the actual engine speed;

If the limp running control mode is the crankshaft limp running control mode, the engine target rapid torque is the engine maximum torque limit, and the generator target torque is calculated by the following formula:

Tq _GcuReq = (Tq _CrksftReq - Tq _EngAct )×r _Gcu ;

Among them, Tq _GcuReq represents the generator target torque, Tq _CrksftReq represents the crankshaft target torque, Tq _EngAct represents the engine flywheel end torque, r _Gcu represents the speed ratio between the engine and the generator, P _VehReqLimp represents the limp vehicle power demand, and P _EngMaxLim Indicates the maximum power value of the engine, P _GcuMaxLim indicates the maximum power value of the generator, and Tq _acuReq is the target torque of the generator.

In some embodiments, the execution module is also configured to: if the vehicle traveling speed is less than or equal to a second preset speed threshold, the target power operating mode is not a parallel mode, and the first indication information indicates that the limp mode is frozen, The clutch operating state is an uncombined state, and the second indication information indicates that the pre-prohibited motor operation flag is frozen, the vehicle is controlled to end the limp driving state data in the parallel mode, and the limp driving state in the parallel mode is set. The mode is frozen.

It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

FIG. 4 is a schematic diagram of the electronic device 4 provided by the embodiment of the present application. As shown in FIG. 4 , the electronic device 4 of this embodiment includes: a processor 401 , a memory 402 , and a computer program 403 stored in the memory 402 and executable on the processor 401 . When the processor 401 executes the computer program 403, the steps in each of the above method embodiments are implemented. Alternatively, when the processor 401 executes the computer program 403, the functions of each module/unit in each of the above device embodiments are implemented.

The electronic device 4 may be a desktop computer, a notebook, a handheld computer, a cloud server and other electronic devices. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art can understand that FIG. 4 is only an example of the electronic device 4 and does not constitute a limitation on the electronic device 4. The electronic device 4 may include more or fewer components than shown in the figure, or different components.

The processor 401 may be a Central Processing Unit (CPU), other general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an on-site processor. Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

The memory 402 may be an internal storage unit of the electronic device 4 , for example, a hard disk or memory of the electronic device 4 . The memory 402 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, a flash memory card ( Flash Card), etc. The memory 402 may also include both an internal storage unit of the electronic device 4 and an external storage device. Memory 402 is used to store computer programs and other programs and data required by the electronic device.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.

Integrated modules/units can be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, this application can implement all or part of the processes in the methods of the above embodiments. It can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program can be processed after being processed. When the processor is executed, the steps of each of the above method embodiments can be implemented. A computer program may include computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Computer-readable media may include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (Read-Only Memory, ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice.

The above embodiments are only used to illustrate the technical solutions of the present application, but are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and shall be included in this application. within the scope of protection.

Claims (10)

1. A method for controlling limp driving of a vehicle, which is characterized by including: Obtain the vehicle's driving status data and driving parameter data; Determine the power required for limp driving of the vehicle based on the driving status data and driving parameter data; Determine a limp driving control mode according to the power required for limp driving of the vehicle and the driving parameter data, and the limp driving control mode includes an engine limp driving control mode or a crankshaft limp driving control mode; The vehicle is controlled to limp in the limp driving control mode. 2. The method for controlling limp driving of a vehicle according to claim 1, wherein the driving state data includes vehicle driving speed, accelerator pedal opening, and clutch operating status; and the driving parameter data includes battery SOC value, target Power operating mode, actual power operating mode, first indication information for indicating whether the limp mode is activated, and second indication information for indicating whether the motor operation flag before prohibition is activated; Before determining the power required for limp driving of the vehicle based on the driving status data and driving parameter data, the method further includes: When the driving state data and driving parameter data meet the following preset conditions, it is determined that the vehicle is in a limp driving state in parallel mode; Wherein, the preset conditions include: The vehicle driving speed is greater than the first preset speed threshold, the accelerator pedal opening is greater than zero, the clutch operating state is a combined state, the battery SOC value is greater than the preset SOC value, the target power operating mode and the actual power operation The modes are all parallel modes, the first indication information indicates that the limp mode is activated, and the second indication information is used to indicate that the pre-inhibition motor operation flag is activated. 3. The method for controlling limp driving of a vehicle according to claim 1, wherein the driving state data includes slope and accelerator pedal opening, and the driving parameter data includes battery SOC value, actual engine speed, engine transmission speed. Ratio, vehicle required torque; Determining the power required for limp driving of the vehicle based on the driving status data and driving parameter data includes: Establish a membership function with preset input variables and output variables, where the input variables include accelerator pedal opening, battery SOC value and slope, and the output variables include the power limiting factor for limp driving; Create a fuzzy control rule table according to the membership function, and defuzzify the output variable according to the fuzzy control rule table and the weighted average method to obtain the power limiting factor for limp driving; Determine the vehicle power demand of the vehicle based on the actual engine speed, engine transmission speed ratio and vehicle demand torque; According to the power limiting factor and the vehicle power demand, the power required for limp driving of the vehicle is determined. 4. The method according to claim 1 or 3, characterized in that the driving parameter data includes engine maximum torque limit, engine actual speed, generator actual speed, generator maximum discharge torque limit, battery within a preset period Peak discharge power; Determining a limp driving control method based on the power required for limp driving of the vehicle and the driving parameter data includes: Determine the engine maximum power value based on the engine maximum torque limit and the actual engine speed; Determine the maximum power value of the generator based on the actual rotation speed of the generator, the maximum discharge torque limit of the generator and the peak discharge power of the battery within the preset period; The limp driving control mode is determined based on the power required for limp driving of the vehicle, the maximum power value of the engine and the maximum power value of the generator. 5. The method according to claim 4, wherein determining the limp driving control mode according to the power required for limp driving of the vehicle, the maximum power value of the engine and the maximum power value of the generator includes: At least one of the following: When the power required for limp driving of the vehicle is not greater than the maximum power value of the engine, determine that the limp driving control mode is the engine limp driving control mode; When the power required for limp driving of the vehicle is greater than the engine maximum power value and less than the sum of the engine maximum power value and the generator maximum power value, it is determined that the limp driving control mode is the crankshaft limp. driving control methods; When the power required for limp running of the vehicle is greater than the sum of the maximum power value of the engine and the maximum power value of the generator, the limp running control mode is determined to be the crankshaft limp running control mode, and the limp running control mode is determined. The power required for limp driving of the vehicle is updated to the sum of the maximum power value of the engine and the maximum power value of the generator, and the driving power of the entire vehicle is set to a fault state. 6. The method according to claim 1, wherein the controlling the vehicle to limp travel in the limp travel control mode includes: Determine the engine target rapid torque and generator target torque corresponding to the limp driving control mode; Controlling an engine of the vehicle to operate at the engine target rapid torque and controlling a generator to operate at the generator target torque; Wherein, if the limp running control mode is the engine limp running control mode, the generator target torque is zero, and the engine target fast torque is calculated by the following formula: Among them, Tq _EngFastReq represents the engine target fast torque, P _VehReqLim represents the power required for limp driving of the vehicle, and n _EngAct represents the actual engine speed; If the limp running control mode is the crankshaft limp running control mode, the engine target rapid torque is the engine maximum torque limit, and the generator target torque is calculated by the following formula: Tq _GcuReq = (Tq _CrksftReq - Tq _EngAct )×r _Gcu ; Among them, Tq _GcuReq represents the target torque of the generator, Tq _CrksftReq represents the target torque of the crankshaft, Tq _EngAct represents the engine flywheel end torque, r _Gcu represents the speed ratio between the engine and the generator, P _VehReqLimp represents the power demand of the vehicle during limp driving, P _EngMaxLim represents the maximum power value of the engine, P _GcuMaxLim represents the maximum power value of the generator, and Tq _GcuRe q represents the target torque of the generator. 7. The method according to claim 2, wherein after controlling the vehicle to limp in the limp driving control mode, it further includes: If the vehicle traveling speed is less than or equal to the second preset speed threshold, the target power operating mode is not a parallel mode, the first indication information indicates that the limp mode is frozen, the clutch operating state is an uncombined state, and the The second instruction information indicates that the pre-prohibited motor operation flag is frozen, controls the vehicle to end the limp driving state in the parallel mode, and sets the limp mode in the parallel mode to the frozen state. 8. A vehicle limp driving control device, characterized in that it includes: The acquisition module is used to obtain the driving status data and driving parameter data of the vehicle; A determination module configured to determine the power required for limp driving of the vehicle based on the driving status data and driving parameter data; A selection module configured to determine a limp driving control mode based on the power required for limp driving of the vehicle and the driving parameter data, where the limp driving control mode includes an engine limp driving control mode or a crankshaft limp driving control mode; An execution module is used to control the vehicle to perform limp driving in the limp driving control mode. 9. An electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that when the processor executes the computer program, the processor implements the claims as claimed in The steps of the method of any one of 1 to 7. 10. A storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.